resolving #69 (comment)

hytech-racing · Apr 11, 2024 · bb794f2 · bb794f2
1 parent adb6d1c
commit bb794f2
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Showing 2 changed files with 15 additions and 1 deletion.
diff --git a/lib/systems/src/PedalsSystem.cpp b/lib/systems/src/PedalsSystem.cpp
@@ -28,6 +28,7 @@ PedalsSystemData_s PedalsSystem::evaluate_pedals(const AnalogConversion_s &accel
     out.accelPercent = ((accel1.conversion + accel2.conversion) / 2.0);
     out.accelPercent = remove_deadzone_(out.accelPercent, accelParams_.deadzone_margin);
     out.accelPercent = std::max(out.accelPercent, 0.0f);
+    out.accelPressed = pedal_is_active_(accel1.conversion, accel2.conversion, accelParams_, false);
     out.accelImplausible = evaluate_pedal_implausibilities_(accel1, accel2, accelParams_, 0.1);
     out.brakeImplausible = evaluate_pedal_implausibilities_(brake, brakeParams_);
     out.brakeAndAccelPressedImplausibility = evaluate_brake_and_accel_pressed_(accel1, accel2, brake);
@@ -49,7 +50,6 @@ PedalsSystemData_s PedalsSystem::evaluate_pedals(const AnalogConversion_s &accel
 
     out.mechBrakeActive = out.brakePercent >= brakeParams_.mechanical_activation_percentage;
     out.regenPercent = std::max(std::min(out.brakePercent / brakeParams_.mechanical_activation_percentage, 1.0f), 0.0f);
-    out.brakePressed = out.brakePercent > brakeParams_.activation_percentage;
 
 
     out.implausibilityExceededMaxDuration = max_duration_of_implausibility_exceeded_(curr_time);

diff --git a/test/test_systems/pedals_system_test.h b/test/test_systems/pedals_system_test.h
@@ -450,5 +450,19 @@ TEST(PedalsSystemTesting, check_accel_never_negative_double)
 
 }
 
+TEST(PedalsSystemTesting, check_accel_pressed)
+{
+    AnalogConversion_s test_pedal_good_val_accel = {1200, 0.2, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
+    AnalogConversion_s test_pedal_good_val_brake = {1001, 0.0, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
+
+    auto params = gen_positive_slope_only_params();
+    PedalsSystem pedals(params, params);
+    PedalsSystem pedals_single(params, params);
+    auto data_double = pedals.evaluate_pedals(test_pedal_good_val_accel, test_pedal_good_val_accel, test_pedal_good_val_brake, test_pedal_good_val_brake, 1300);
+    EXPECT_TRUE(data_double.accelPressed);
+    auto data_single = pedals_single.evaluate_pedals(test_pedal_good_val_accel, test_pedal_good_val_accel, test_pedal_good_val_brake, 1300);
+    EXPECT_TRUE(data_single.accelPressed);
+}
+
 
 #endif /* PEDALS_SYSTEM_TEST */